added parameter to stop client libraries from generating topics list in

log messages (#1241)
ros · Nov 20, 2017 · 7493c51 · 7493c51
1 parent 7fa0a5c
commit 7493c51
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Showing 3 changed files with 24 additions and 2 deletions.
diff --git a/clients/roscpp/include/ros/rosout_appender.h b/clients/roscpp/include/ros/rosout_appender.h
@@ -75,6 +75,7 @@ class ROSCPP_DECL ROSOutAppender : public ros::console::LogAppender
   boost::mutex queue_mutex_;
   boost::condition_variable queue_condition_;
   bool shutting_down_;
+  bool disable_topics_;
 
   boost::thread publish_thread_;
 };

diff --git a/clients/roscpp/src/libros/rosout_appender.cpp b/clients/roscpp/src/libros/rosout_appender.cpp
@@ -38,6 +38,7 @@
 #include "ros/topic_manager.h"
 #include "ros/advertise_options.h"
 #include "ros/names.h"
+#include "ros/param.h"
 
 #include <rosgraph_msgs/Log.h>
 
@@ -102,7 +103,14 @@ void ROSOutAppender::log(::ros::console::Level level, const char* str, const cha
   msg->file = file;
   msg->function = function;
   msg->line = line;
-  this_node::getAdvertisedTopics(msg->topics);
+
+  // check parameter server/cache for omit_topics flag
+  // the same parameter is checked in rosout.py for the same purpose
+  ros::param::getCached("/rosout_disable_topics_generation", disable_topics_);
+
+  if (!disable_topics_){
+    this_node::getAdvertisedTopics(msg->topics);
+  }
 
   if (level == ::ros::console::levels::Fatal || level == ::ros::console::levels::Error)
   {

diff --git a/clients/rospy/src/rospy/impl/rosout.py b/clients/rospy/src/rospy/impl/rosout.py
@@ -85,7 +85,20 @@ def _rosout(level, msg, fname, line, func):
                 try:
                     _in_rosout = True
                     msg = str(msg)
-                    topics = get_topic_manager().get_topics()
+
+                    # check parameter server/cache for omit_topics flag
+                    # the same parameter is checked in rosout_appender.cpp for the same purpose
+                    # parameter accesses are cached automatically in python
+                    if rospy.has_param("/rosout_disable_topics_generation"):
+                        disable_topics_ = rospy.get_param("/rosout_disable_topics_generation")
+                    else:
+                        disable_topics_ = False
+
+                    if not disable_topics_:
+                        topics = get_topic_manager().get_topics()
+                    else:
+                        topics = ""
+
                     l = Log(level=level, name=str(rospy.names.get_caller_id()), msg=str(msg), topics=topics, file=fname, line=line, function=func)
                     l.header.stamp = Time.now()
                     _rosout_pub.publish(l)